CN114061898B - Cluster autonomous swimming hydrodynamic performance test platform and method - Google Patents
Cluster autonomous swimming hydrodynamic performance test platform and method Download PDFInfo
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- CN114061898B CN114061898B CN202111224237.4A CN202111224237A CN114061898B CN 114061898 B CN114061898 B CN 114061898B CN 202111224237 A CN202111224237 A CN 202111224237A CN 114061898 B CN114061898 B CN 114061898B
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Abstract
The invention relates to a cluster autonomous swimming hydrodynamic performance test platform and a method, belonging to the technical field of aircraft tests; comprises a circulating water tank, a carrying platform and a testing system; the circulating water tank is used for providing a circulating water flow environment; the carrying platform is of a frame type structure, the top and the bottom of the carrying platform are provided with air floatation systems, the air floatation systems at the top fix the cluster aircraft through the mounting platform, and the air floatation systems at the bottom fix the high-speed camera through the mounting platform; the top air floatation system is connected with the bottom air floatation system through a vertically arranged synchronous connecting rod, so that the synchronous movement of the top and bottom mounting platforms is realized, and the synchronous movement of the cluster aircraft and the high-speed camera is further realized. The invention realizes synchronous follow-up (friction coefficient is about 0.0005) by virtue of the air floatation system, and maintains the air pressure between the air floatation bearing and the polish rod to be stable by virtue of the air compressor and the air extractor; the synchronous follow-up of the high-speed camera is realized through the synchronous connecting rod, and the flow field and the gesture of each aircraft can be synchronously shot.
Description
Technical Field
The invention belongs to the technical field of aircraft tests, and particularly relates to a cluster autonomous swimming hydrodynamic performance test platform and method.
Background
As an intelligent small-sized device capable of autonomous underwater navigation for a long time, an underwater vehicle plays an increasingly important role in the military and civil fields. The phenomenon of group swimming widely exists in the nature, and students find that when the group swimming is carried out, the individual energy consumption is reduced, the range and the speed of the aircraft are greatly improved, and the interest of people on the study of autonomous group swimming of the underwater aircraft is further improved. In the process of exploring the autonomous swimming of the clusters, a model test is an indispensable link, and key hydrodynamic force and flow field performance parameters of the aircraft during the autonomous swimming of the clusters are obtained through the model test, so that references and bases are provided for the design of the aircraft.
Pei Zhengjie in the hydrodynamic performance study of double fish during side-by-side swimming of the paper published on measurement and control technology, an experimental device (volume 35 of 2016, 12 th period 16-20) for measuring hydrodynamic characteristics of two fish during side-by-side is provided, and only planar parallel fixed arrangement of double fish can be realized. At present, only planar group-stream arrangement is commonly adopted at home and abroad: serial, parallel, diamond (center positions are all on the same plane); in the swimming of the real fish clusters, the number of fish shoals is large, the arrangement modes are various, and most of the fish shoals are in a space three-dimensional layout. The conventional in-plane test device cannot meet the actual measurement of the underwater vehicle clusters, so that the accurate key parameters of the underwater vehicle for measuring the motion performance of the vehicle, such as the propulsion efficiency, the thrust coefficient, the lift-drag ratio, the flow field characteristics and the like, can not be given when the underwater vehicle clusters autonomously swim.
Disclosure of Invention
The technical problems to be solved are as follows:
in order to avoid the defects of the prior art, the invention provides the cluster autonomous swimming hydrodynamic performance test platform and the method, wherein the test platform realizes a large number of cluster test objects through a telescopic structure installation platform and an air floatation system which are installed on a carrying platform, and the arrangement mode of the test objects is not limited to parallel connection, so that series connection, parallel connection, diamond-shaped and space three-dimensional arrangement can be realized, and the test objects are more similar to real fish cluster swimming; each experimental object can freely move, and is non-fixed. Specifically, under the test platform, the key parameters such as the propulsion efficiency, the thrust coefficient, the lift-drag ratio, the flow field characteristics and the like of the underwater vehicle during autonomous swimming of the clusters can be measured to measure the motion performance of the vehicle, and the relevant hydrodynamic information of the vehicle during autonomous swimming of the clusters can be obtained according to experimental data.
The technical scheme of the invention is as follows: the cluster autonomous swimming hydrodynamic performance test platform is characterized by comprising a circulating water tank, a carrying platform and a test system; the circulating water tank is used for providing a circulating water flow environment;
the carrying platform is of a frame type structure, the top and the bottom of the carrying platform are provided with air floatation systems, the air floatation systems at the top are used for fixing the cluster aircraft through the mounting platform, and the air floatation systems at the bottom are used for fixing the high-speed camera through the mounting platform; the air floating system comprises a polished rod, polished rod supporting seats and air floating bearings, wherein the four polished rods are symmetrically arranged at the top and the bottom of the frame through the polished rod supporting seats respectively, and the polished rods are respectively provided with the same number of air floating bearings along the axial direction; two ends of the mounting platform are respectively fixed on air bearing at two sides, and each aircraft is respectively fixed under the mounting platform through a telescopic rod; the air compressor is used for filling pressure air into the polish rod from the small hole of the air bearing, and simultaneously, the air pump is used for pumping out redundant pressure air, so that the air pressure saturation between the air bearing and the polish rod is kept, and the aircraft can freely move along the axial direction of the polish rod through the mounting platform; the air bearing at two sides of the top air floatation system is fixedly connected with the air bearing at two sides of the bottom air floatation system through a vertically arranged synchronous connecting rod respectively, so that the synchronous movement of the mounting platforms at the top and the bottom is realized, and the synchronous movement of the cluster aircraft and the high-speed camera is further realized;
the test system comprises a six-axis force/moment sensor and a DPIV system; the DPIV system comprises a light source system, a high-speed camera, fluorescent particles and a computer containing a flow field analysis module; the light source system is arranged outside the carrying platform and used for illumination; the high-speed cameras are arranged on the bottom mounting platform of the carrying platform, the number of the high-speed cameras is consistent with that of the aircrafts, and the high-speed cameras are fixed under the aircrafts through the bottom mounting platform and are used for synchronously shooting the flow field and the gesture of the aircrafts.
The invention further adopts the technical scheme that: the circulating water tank comprises a circulating water tank, an impeller and an experiment section, wherein the circulating water tank comprises four corners, and a connecting pipeline between the first corner and the second corner is a backflow pipeline close to the ground;
the upper wall surface of the return pipe extends to a second corner, and a through hole is formed in the upper wall surface of the return pipe positioned at the second corner; the impeller is arranged at the through hole at the second corner, and is driven to rotate by the motor, so that water is pumped out of the through hole, the water level at the rear end is improved to flow to the downstream, and the water flow direction in the water tank is clockwise;
the experimental section is a section of water tank between the first corner and the fourth corner, the carrying platform is arranged on the outer side of the experimental section, the top air floatation system is positioned above the water tank, and the bottom air floatation system is positioned below the bottom of the water tank; the cluster aircraft stretches into the water tank through the telescopic rod.
The invention further adopts the technical scheme that: the number of the impellers is 3, and the impellers are all aluminum impellers with the diameter of 0.6 m.
The invention further adopts the technical scheme that: the aperture of the through hole is larger than the diameter of the impeller.
The invention further adopts the technical scheme that: the return-type water tank comprises a frame and a wall surface, the wall surface has lateral bearing capacity through the frame, and the wall surface is a transparent acrylic plate.
The invention further adopts the technical scheme that: the experimental section is a cube structure with the thickness of 1.2mx1.2mx1.2m, the flow velocity in the central area is continuously adjustable from 0.1m/s to 0.8m/s, the control precision is 0.01m/s, and the flow velocity stabilizing time is 2min.
The invention further adopts the technical scheme that: the polish rod has a coefficient of friction of 0.0005.
A method for carrying out experiments by adopting a cluster autonomous swimming hydrodynamic performance test platform is characterized by comprising the following specific steps:
step 1: before starting an experiment, installing cluster aircrafts, performing initial movement position zeroing on each aircrafts, and recording the relative position relation of each aircraft;
step 2: switching on a power supply of the test platform;
step 3: opening sensor recording software, testing the communication conditions of all sensors and a computer, checking whether the installation direction of the sensors is correct, and ensuring that experimental data can be accurately recorded and transmitted in experiments;
step 4: opening DPIV system recording software, firstly adjusting the position of a high-speed camera to ensure that the region of interest is completely shot; then, setting parameters of the aperture size, shooting frequency and focal length of the camera, and ensuring that shooting of flow fields, vortex fields and flapping wing movement forms can be accurately carried out in experiments;
step 5: starting a circulating water tank, setting the water flow speed as an experimental flow speed v, starting an air compressor and an air extractor, keeping the air pressure in an air bearing to be 5Bar, and enabling an aircraft and a high-speed camera to perform low-friction synchronous free movement in the axial direction of a polished rod through an installation platform, wherein the friction coefficient is 0.0005;
step 6: when the aircraft keeps steady movement, starting to record experimental data, storing and exporting mechanical data recorded by the six-axis force/moment sensor, and storing and exporting flow field parameters recorded by the DPIV system;
step 7: the parameter setting is changed to repeatedly carry out experiments, the power-off operation is needed when the parameter setting is carried out, so that an experimenter is prevented from electric shock and damaging experimental equipment, and the steps 1-6 are repeated after the liquid level in the circulating water tank is stable;
step 8: after the experiment is finished, all power supplies are turned off;
step 9: and processing data, calculating parameters such as thrust coefficient, propulsion efficiency, lift-drag ratio and the like, and analyzing a flow field by utilizing an analysis module in the DPIV system to obtain information such as a vortex flow field, a speed field, a pressure field and the like.
The invention further adopts the technical scheme that: the power supply in the step 2 comprises an external power supply of the sensor net cage, a DPIV system power supply and a circulating water tank power supply.
Advantageous effects
The invention has the beneficial effects that:
(1) The invention realizes synchronous follow-up (friction coefficient is about 0.0005) by means of the air floatation system to achieve the drag reduction effect, the air floatation system does not contain a driving device, and only an air compressor and an air extractor are used for maintaining the air pressure between the air floatation bearing and the polish rod to be stable. In the experiment, the aircraft is fixed on the air bearing through the mounting platform, and the motion of the aircraft under water drives the motion of the air bearing, so that the aircraft is closer to the motion of real fishes; meanwhile, synchronous follow-up of the high-speed camera is realized through the synchronous connecting rod, and synchronous shooting can be carried out on the flow field and the gesture of each aircraft.
(2) The size of the experimental section of the circulating water channel used in the invention is 1.2 x 1.2m 3 In the experiment, the dimension design of the experimental model is carried out according to the similarity criterion and the size of the driving device of the model. The invention can meet the requirement of a plurality of experimental models for group-tour experiments, realizes the position adjustment along the axial direction of the optical axis through the air bearing, and realizes the position adjustment along the vertical direction through the telescopic rod, thereby being capable of meeting various arrangement modes such as series connection, parallel connection, diamond shape, rectangle and three-dimensional space arrangement; at present, only planar group-stream arrangement is adopted at home and abroad: in series, in parallel, diamond (center position is in the same plane).
(3) The cluster autonomous swimming hydrodynamic performance test platform and the method can test the key parameters such as the propulsion efficiency, the thrust coefficient, the lift-drag ratio, the flow field characteristics and the like of the underwater vehicle during the cluster autonomous swimming, so that the relevant hydrodynamic information of the vehicle during the cluster autonomous swimming can be obtained, meanwhile, experimental verification can be provided for traditional CFD numerical simulation and theoretical research, and references are provided for the design of the vehicle.
Drawings
FIG. 1 is a top view of a circulation tank;
FIG. 2 is a layout view of a circulating water tank, a carrying platform and a test system;
FIG. 3 is a diagram of a mounting platform;
fig. 4 is a test flow chart.
Reference numerals illustrate: 1-a circulating water tank, 2-a circulating water tank experimental section, 3-a second corner, 4-a third corner, 5-a fourth corner, 6-a first corner, 7-an impeller, 8-a carrying platform, 9-a polished rod supporting seat, 10-a polished rod, 11-a synchronous connecting rod, 12-an air bearing, 13-a high-speed camera, 14-a mounting platform, 15-a light source system and 16-an aircraft.
Detailed Description
The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Referring to fig. 2, the cluster autonomous swimming hydrodynamic performance test platform is built based on a circulating water tank, and comprises a circulating water tank 1, a carrying platform 8 and a test system;
referring to fig. 1, a circulation tank 1 is provided for providing a circulation water flow environment; the experimental section 2 comprises a return water tank, an impeller 7 and a circulating water tank, wherein the return water tank comprises four corners, and a connecting pipeline between the first corner 6 and the second corner 3 is a return pipeline close to the ground; the upper wall surface of the return pipe extends to the second corner 3, and a through hole is formed in the upper wall surface of the return pipe positioned at the second corner 3; the impeller 7 is arranged at the through hole of the second corner, and the impeller 7 is driven to rotate by the motor, so that water is pumped out of the through hole, the water level at the rear end is improved to flow downstream, and the water flow direction in the water tank is clockwise; the circulating water tank experiment section 2 is a water tank between the first corner 6 and the fourth corner 5, and the carrying platform 8 is arranged outside the experiment section 2.
Referring to fig. 3, the carrying platform 8 is in a frame structure, the top and the bottom of the carrying platform 8 are provided with air floatation systems, the air floatation systems above the circulating water tank experimental section 2 are used for fixing the aircraft 16 through the mounting platform 14, and two ends of the mounting platform 14 are fixed on the air floatation bearings 12, so that the aircraft can extend into the circulating water tank experimental section 2; the air floatation system positioned below the experiment section 2 of the circulating water tank is used for fixing the high-speed camera 13 through the mounting platform 14. The mounting platform 14 is comprised of a plurality of parallel arranged bar plates.
The air floatation system comprises polished rods 10, polished rod supporting seats 9 and air floatation bearings 12, wherein the four polished rods 10 are symmetrically arranged at the top and the bottom of the frame through the polished rod supporting seats 9 respectively, and the polished rods 10 are respectively provided with the same number of air floatation bearings 12 along the axial direction; two ends of the mounting platform 14 are respectively fixed on the air bearing 12 at two sides, and each aircraft 16 is respectively fixed under the mounting platform 14 through a telescopic rod; filling pressure air into the polish rod 10 from the small hole of the air bearing through the air compressor, and simultaneously pumping out redundant pressure air through the air pump, so that the air pressure between the air bearing 12 and the polish rod 10 is kept saturated, and the aircraft 16 can freely move along the axial direction of the polish rod 10 through the mounting platform 14; the air bearing 12 on two sides of the top air floatation system is fixedly connected with the air bearing 12 on two sides of the bottom air floatation system through the vertically arranged synchronous connecting rod 11 respectively, so that the synchronous movement of the mounting platforms 14 on the top and the bottom is realized, and the synchronous movement of the cluster aircraft and the high-speed camera 13 is further realized.
The test system comprises a six-axis force/moment sensor and a DPIV system; the DPIV system comprises a light source system, a high-speed camera, fluorescent particles and a computer containing a flow field analysis module; the light source system is arranged outside the carrying platform and used for illumination; the high-speed cameras are arranged on the bottom mounting platform of the carrying platform, the number of the high-speed cameras is consistent with that of the aircrafts, and the high-speed cameras are fixed under the aircrafts through the bottom mounting platform and are used for synchronously shooting the flow field and the gesture of the aircrafts.
Examples:
fig. 1 is a plan view of a circulating water tank, wherein a test section is formed by bonding transparent acrylic plates, a tension-restraining frame is arranged around the test section to enable the test section to have lateral bearing capacity, and other parts of a main body of a hole body are formed by welding 15mm thick PP plates. The power of the circulating water tank is provided by three aluminum impellers (8 blades) 10 with the diameter of 0.6 m; the connecting pipeline between the first corner 6 and the second corner 3 is a backflow pipeline close to the ground and extends to the second corner 3, a circular hole with a diameter slightly larger than 0.6m is formed in the upper surface of the second corner 3, water is pumped out of the circular hole when the impeller rotates, the water level at the rear end is increased, and the water flows to the downstream, so that the water flow direction is clockwise; the experimental section 2 is a 1.2mx1.2mx1.2mcube, the flow rate in the central area is continuously adjustable from 0.1m/s to 0.8m/s, the control precision is 0.01m/s, and the flow rate stabilizing time is 2min.
Fig. 2 is a schematic diagram showing the circulating water tank, the carrying platform and the test system, wherein the support part of the carrying platform 8 is constructed by alloy steel and is fixed on the horizontal ground. Two sets of air floatation systems are arranged on the carrying platform 8, the air floatation systems above the circulating water tank experiment section 2 are used for fixing the aircrafts 16 through a plurality of mounting platforms 14, a plurality of aircrafts can be fixed on each mounting platform, the positions of the aircrafts can be adjusted at will, the positions of the aircrafts refer to the vertical positions, and the purpose is to realize three-dimensional space arrangement of the aircrafts. And the aircraft 16 may achieve any change in relative positional relationship during the course of the experiment, where position refers to a positional relationship in the horizontal plane. The mounting platform 14 is fixed on the air bearing 12, so that the aircraft 16 can extend into the circulating water channel experimental section 2; the air floatation system positioned below the experiment section 2 of the circulating water tank is provided with a high-speed camera 13 fixed through a mounting platform 14, and a light source system 15 is distributed on the side of the experiment section 2 so as to conveniently illuminate the whole experiment section.
Fig. 3 is a view of a carrying platform, two sets of air floating systems consisting of a polished rod 10, a polished rod supporting seat 9 and an air floating bearing 12 are fixed at the upper end and the lower end of the carrying platform 8, and two mounting platforms 14 are fixed on the air floating bearing 12 for fixing an aircraft 16 and a high-speed camera 13. Meanwhile, the upper air bearing 12 and the lower air bearing 12 on the same side are connected through the synchronous connecting rod 11, so that the purpose is to drive the upper mounting platform 14 to move and simultaneously drive the lower mounting platform 14 to synchronously move when the aircraft 16 moves in the circulating water tank 1, and synchronous shooting of the high-speed camera on the flow field and the gesture of the aircraft is realized.
The testing method comprises the following steps:
step one: before starting an experiment, installing each aircraft according to an experiment plan, performing motion initial position zeroing on each aircraft, and recording the relative position relation of each aircraft;
step two: all power supplies of the test platform are connected, including an external power supply of the sensor net cage, a power supply of the DPIV system and a power supply of the circulating water tank;
step three: opening sensor recording software, testing the communication conditions of all sensors and a computer, checking whether the installation direction of the sensors is correct, and ensuring that experimental data can be accurately recorded and transmitted in later experiments;
step four: opening DPIV system recording software, firstly adjusting the position of a high-speed camera to ensure that the concerned region can be completely shot, then setting parameters such as the aperture size, shooting frequency, focal length and the like of the camera, and ensuring that the shooting of flow fields, vortex fields and flapping wing movement forms can be accurately carried out in later experiments;
step five: starting a circulating water tank, setting the water flow speed as an experimental flow speed v, starting an air compressor and an air extractor, and keeping the air pressure in an air bearing to be 5Bar, so that a craft and a high-speed camera can perform low-friction synchronous free motion on a polished rod;
step six: when the aircraft keeps steady movement, starting to record experimental data, storing and exporting mechanical data recorded by the six-axis force/moment sensor, and storing and exporting flow field parameters recorded by the DPIV system;
step seven: when the parameter setting is changed and the experiment is repeatedly carried out, the power-off operation is needed, so that the electric shock of an experimenter and the damage to experimental equipment are prevented, and the steps 1-6 are stably repeated when the liquid level in the circulating water tank is waited.
Step eight: after the experiment is finished, all power supplies are turned off;
step nine: and processing data, calculating parameters such as thrust coefficient, propulsion efficiency, lift-drag ratio and the like, and analyzing a flow field by utilizing an analysis module in the DPIV system to obtain information such as a vortex flow field, a speed field, a pressure field and the like.
The image file shot by the high-speed camera is imported into post-processing software to perform flow field characteristic analysis such as generation, diffusion and dissipation processes of leading vortex, wake vortex and wingtip vortex, speed difference of different points in the flow field, pressure distribution of points in the flow field and the like, and track tracking of each key position point of the aircraft body can be performed through the post-processing software, so that relevant hydrodynamic information of the aircraft during autonomous swimming of the cluster can be obtained, experimental verification can be provided for traditional CFD numerical simulation and theoretical research, and references and bases are provided for aircraft design.
Experimental notice:
(1) In order to sufficiently improve the test accuracy in the experiment, wind resistance measurement should be performed on the mounting platform 14 and the synchronous connecting rod 11 before the mounting model performs the experiment. The method aims to accurately obtain the net thrust value when experimental mechanical data are processed in the later period.
(2) When the air floatation system is started, the air compressor is started firstly, air is filled into the air floatation bearing, and the air extractor is started after sufficient air exists in the bearing, so that the air pressure in the bearing is kept stable; when the air compressor is closed, the air inflow of the air compressor is firstly regulated to enable the air pump to pump out air, when the indication number of the barometer to be observed is close to the outside air pressure, the air pump and the air compressor are turned off, the residual air is naturally discharged, and the damage of a polish rod caused by untimely closing of the air pump is avoided.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.
Claims (8)
1. The cluster autonomous swimming hydrodynamic performance test platform is characterized by comprising a circulating water tank, a carrying platform and a test system; the circulating water tank is used for providing a circulating water flow environment;
the carrying platform is of a frame type structure, the top and the bottom of the carrying platform are provided with air floatation systems, the air floatation systems at the top are used for fixing the cluster aircraft through the mounting platform, and the air floatation systems at the bottom are used for fixing the high-speed camera through the mounting platform; the air floating system comprises a polished rod, polished rod supporting seats and air floating bearings, wherein the four polished rods are symmetrically arranged at the top and the bottom of the frame through the polished rod supporting seats respectively, and the polished rods are respectively provided with the same number of air floating bearings along the axial direction; two ends of the mounting platform are respectively fixed on air bearing at two sides, and each aircraft is respectively fixed under the mounting platform through a telescopic rod; the air compressor is used for filling pressure air into the polish rod from the small hole of the air bearing, and simultaneously, the air pump is used for pumping out redundant pressure air, so that the air pressure saturation between the air bearing and the polish rod is kept, and the aircraft can freely move along the axial direction of the polish rod through the mounting platform; the air bearing at two sides of the top air floatation system is fixedly connected with the air bearing at two sides of the bottom air floatation system through a vertically arranged synchronous connecting rod respectively, so that the synchronous movement of the mounting platforms at the top and the bottom is realized, and the synchronous movement of the cluster aircraft and the high-speed camera is further realized;
the test system comprises a six-axis force/moment sensor and a DPIV system; the DPIV system comprises a light source system, a high-speed camera, fluorescent particles and a computer containing a flow field analysis module; the light source system is arranged outside the carrying platform and used for illumination; the high-speed cameras are arranged on the bottom mounting platform of the carrying platform, the number of the high-speed cameras is consistent with that of the aircrafts, and the high-speed cameras are fixed under the aircrafts through the bottom mounting platform and are used for synchronously shooting the flow field and the gesture of the aircrafts;
the circulating water tank comprises a circulating water tank, an impeller and an experiment section, wherein the circulating water tank comprises four corners, and a connecting pipeline between the first corner and the second corner is a backflow pipeline close to the ground;
the upper wall surface of the return pipe extends to a second corner, and a through hole is formed in the upper wall surface of the return pipe positioned at the second corner; the impeller is arranged at the through hole at the second corner, and is driven to rotate by the motor, so that water is pumped out of the through hole, the water level at the rear end is improved to flow to the downstream, and the water flow direction in the water tank is clockwise;
the experimental section is a section of water tank between the first corner and the fourth corner, the carrying platform is arranged on the outer side of the experimental section, the top air floatation system is positioned above the water tank, and the bottom air floatation system is positioned below the bottom of the water tank; the cluster aircraft stretches into the water tank through the telescopic rod.
2. The clustered autonomous mobile hydrodynamic performance testing platform of claim 1, wherein: the number of the impellers is 3, and the impellers are all aluminum impellers with the diameter of 0.6 m.
3. The clustered autonomous mobile hydrodynamic performance testing platform of claim 1, wherein: the aperture of the through hole is larger than the diameter of the impeller.
4. The clustered autonomous mobile hydrodynamic performance testing platform of claim 1, wherein: the return-type water tank comprises a frame and a wall surface, the wall surface has lateral bearing capacity through the frame, and the wall surface is a transparent acrylic plate.
5. The clustered autonomous mobile hydrodynamic performance testing platform of claim 1, wherein: the experimental section is a cube structure with the thickness of 1.2mx1.2mx1.2m, the flow velocity in the central area is continuously adjustable from 0.1m/s to 0.8m/s, the control precision is 0.01m/s, and the flow velocity stabilizing time is 2min.
6. The clustered autonomous mobile hydrodynamic performance testing platform of claim 1, wherein: the polish rod has a coefficient of friction of 0.0005.
7. A method for performing experiments by using the clustered autonomous swimming hydrodynamic performance test platform according to any one of claims 1 to 6, characterized by comprising the following specific steps:
step 1: before starting an experiment, installing cluster aircrafts, performing initial movement position zeroing on each aircrafts, and recording the relative position relation of each aircraft;
step 2: switching on a power supply of the test platform;
step 3: opening sensor recording software, testing the communication conditions of all sensors and a computer, checking whether the installation direction of the sensors is correct, and ensuring that experimental data can be accurately recorded and transmitted in experiments;
step 4: opening DPIV system recording software, firstly adjusting the position of a high-speed camera to ensure that the region of interest is completely shot; then, setting parameters of the aperture size, shooting frequency and focal length of the camera, and ensuring that shooting of flow fields, vortex fields and flapping wing movement forms can be accurately carried out in experiments;
step 5: starting a circulating water tank, setting the water flow speed as an experimental flow speed v, starting an air compressor and an air extractor, keeping the air pressure in an air bearing to be 5Bar, and enabling an aircraft and a high-speed camera to perform low-friction synchronous free movement in the axial direction of a polished rod through an installation platform, wherein the friction coefficient is 0.0005;
step 6: when the aircraft keeps steady movement, starting to record experimental data, storing and exporting mechanical data recorded by the six-axis force/moment sensor, and storing and exporting flow field parameters recorded by the DPIV system;
step 7: the parameter setting is changed to repeatedly carry out experiments, the power-off operation is needed when the parameter setting is carried out, so that an experimenter is prevented from electric shock and damaging experimental equipment, and the steps 1-6 are repeated after the liquid level in the circulating water tank is stable;
step 8: after the experiment is finished, all power supplies are turned off;
step 9: and processing data, calculating parameters such as thrust coefficient, propulsion efficiency, lift-drag ratio and the like, and analyzing a flow field by utilizing an analysis module in the DPIV system to obtain information such as a vortex flow field, a speed field, a pressure field and the like.
8. The method for performing experiments on the clustered autonomous mobile hydrodynamic performance test platform according to claim 7, wherein: the power supply in the step 2 comprises an external power supply of the sensor net cage, a DPIV system power supply and a circulating water tank power supply.
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